#!/usr/bin/python3
import rospy
import tf2_ros
from geometry_msgs.msg import Twist
from yolo_pkg.msg import Yolo
from drone_pkg.msg import QRCode
import math
import tf
from drone_pkg.msg import SendString
from sensor_msgs.msg import Range
import serial
from drone_pkg.srv import *
import time





            
#控制类
class RobotController:
    def __init__(self):

        ####定义常量####
        self.MAX_LINEAR_SPEED =  25             #最大线速度，单位 cm/s
        self.MAX_ANGULAR_SPEED = 15             #最大角速度,单位 度/s

        self.KP_LINEAR_SPEED_POINT = 0.67        #坐标模式线速度KP
        self.KP_LINEAR_SPEED_DETECT = 0.055      #识别模式线速度KP
        self.KP_ANGULAR_SPEED = 0               #角速度环KP

        self.KP_Z_SPEED = 1
        self.MAX_Z_SPEED = 40

        self.MIN_ERROR_XY_POINT = 5             #坐标模式XY方向允许的最小误差，单位 cm
        self.MIN_ERROR_XY_DETECT = 50         #识别模式XY方向允许的最小误差，单位 像素
        self.MIN_ERROR_YAW = 25                 #YAW上最小角度误差，单位 度、

        ####定义变量####

        #目标变量
        self.targetPointX = 0                   #目标坐标：X，单位 cm
        self.targetPointY = 0                   #目标坐标：Y，单位 cm
        self.targetPointZ = 0                   #目标坐标：Z，单位 cm
        self.targetDetectX = 320                #识别模式X方向目标像素 单位 像素
        self.targetDetectY = 0                #识别模式Y方向目标像素 单位 像素
        self.targetDetectZ = 200                  #识别模式Z方向目标像素 单位 像素
        self.targetYaw = 0                      #目标角度YAW， 单位度
        self.targetNum = 8                      #目标数字
        self.targetHeight = 75                  #目标高度

        #中间变量
        self.distanceXY = 0                     #坐标模式距离目标点距离，单位 cm
        self.errorPointX = 0                    #坐标模式X方向偏差像素值，单位 cm
        self.errorPointY = 0                    #坐标模式Y方向偏差像素值，单位 cm
        self.errorPointZ = 0                    #坐标模式Z方向偏差像素值，单位 cm
        self.errorDetectX = 0                   #识别模式X方向偏差像素值，单位 像素
        self.errorDetectY = 0                   #识别模式Y方向偏差像素值，单位 像素
        self.errorDetectZ = 0                   #识别模式Z方向偏差像素值，单位 像素
        self.actualPositionX = 0                #实际位置x
        self.actualPositionY = 0                #实际位置y  
        self.actualPositionZ = 0                #实际位置z
        self.actualPositionYaw = 0              #实际位置YAW
        self.detectX = 0                        #识别到数字中心X坐标
        self.detectY = 0                        #识别到数字中心Y坐标
        self.detectZ = 0                        #识别到数字中心Z坐标
        self.errorYaw = 0                       #Yaw方向误差值，单位 度
        self.cosTheta = 0                       #目标坐标角度余弦值
        self.sinTheta = 0                       #目标坐标角度正弦值
        self.startTime_Laser = 0                #激光开启时间
        self.presentTime_Laser = 0              #激光当前时间
        self.startTime_Delay = 0                #延时开启时间
        self.presentTime_Delay = 0              #延时当前时间
        self.startTime_Laser = 0                #激光开启时间
        self.presentTime_Laser = 0              #激光当前时间
        self.startTime_Height = 0               #高度变换开启时间
        self.presentTime_Height = 0             #高度变换当前时间
        

        #结果变量
        self.resultLinearSpeedXY = 0            #计算输出XY合速度
        self.resultLinearSpeedX = 0             #计算输出X方向速度
        self.resultLinearSpeedY = 0             #计算输出Y方向速度
        self.resultLinearSpeedZ = 0             #计算输出Z方向速度
        self.resultAngularSpeedYaw = 0          #计算输出Yaw方向角速度
        


        #状态变量
        self.flagMovePoint = 0                  #坐标飞行标志
        self.flagdetect = 0                     #目标点对应的flag
        self.mode = 0                           #飞行模式
        self.detectNum = -1                     #识别到的数字
        self.flagLaser = 0                      #激光灯状态变量，0为关闭， 1为开启
        self.flagDelay = 0                      #延时的状态
        self.flagHeight = 0                     #高度变化的状态
        self.flagland = 0                       #降落状态
        self.flagfly = 0                        #起飞状态

        #二维码相关变量
        self.CamID = -1                         #相机编号
        self.QRCodeCount = 0                    #识别二维码计数
        self.QRNum = [-1]*24
        self.QR_Laser_flag = 0                  #激光+二维码状态
        self.Detect_Cam = 1                     #目标使用的相机编号
        self.qr_codes_array = []
        self.last_code = -1
        self.qr_timeOut = 10                    #超时时间
        self.findQrcode_State = 0               #二维码状态
        self.time_qrcode = 0                    #二维码时间



        self.Time_0 = 0
        self.Time = 0
        self.sleep_Time0 = 0
        self.sleep_Time = 120
       
        self.stringMax = ""
        self.stringMin = ""
        self.min_data = -1
        self.max_data = -1


        

        #初始化ROS节点
        rospy.init_node('control', anonymous=True)
        self.rate = rospy.Rate(50)
        rospy.on_shutdown(self.Shutdown)
        #初始化速度话题发布器
        self.vel_msg = Twist()
        self.pubSpeed = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
        #初始化字符串控制话题发布器
        self.sendstr_msg = SendString()
        self.pubString = rospy.Publisher('/Laser', SendString, queue_size=10)
        #初始化串口1
        self.ser = serial.Serial("/dev/ttyS1", 115200)
        self.ser_fukong = serial.Serial('/dev/ttyS3', 115200)
        #初始化TF缓存
        self.tf_buffer = tf2_ros.Buffer()
        tf2_ros.TransformListener(self.tf_buffer)
        rospy.loginfo("Listening for TF data...")

        self.sub_QRCode = rospy.Subscriber("/QRCode_detect", QRCode, self.QRCode_Callback, queue_size=10)

        #订阅高度数据
        self.sub_height = rospy.Subscriber("/anoros_dt/ano_alt", Range, self.Height_callback, queue_size=10)
        #初始化服务节点
        self.time_server = rospy.Service("Start_Time", Start_time, self.Time_req)

        self.Servo_control(0)
        



        


    def Time_req(self, req):
        if (req.state1 == 1):
            print("resive")
            self.Time_0 = rospy.get_time()
            resp = Start_timeResponse(1)
            return resp
        else:
            resp = Start_timeResponse(0)
            return resp
        

    def Servo_control(self, num=0):
        buf = '@' + str(num) + '\r\n'
        self.ser_fukong.write(buf.encode())
        

    #计算坐标模式速度
    def calculate_point_speed(self):

        
        #计算距离
        self.distanceXY = math.sqrt(self.errorPointX * self.errorPointX + self.errorPointY * self.errorPointY)

        #计算合速度大小
        self.resultLinearSpeedXY = self.KP_LINEAR_SPEED_POINT * self.distanceXY 
        self.resultLinearSpeedXY = max(min(self.resultLinearSpeedXY, self.MAX_LINEAR_SPEED), -self.MAX_LINEAR_SPEED)

        #计算三角函数
        if self.distanceXY != 0:
            self.cosTheta = self.errorPointX / (self.distanceXY)
            self.sinTheta = self.errorPointY / (self.distanceXY)


        #计算输出速度
        self.resultLinearSpeedX = self.resultLinearSpeedXY * self.cosTheta
        self.resultLinearSpeedY = self.resultLinearSpeedXY * self.sinTheta
        self.resultAngularSpeedYaw = self.KP_ANGULAR_SPEED * self.errorYaw

        self.resultLinearSpeedZ = self.KP_Z_SPEED * self.errorPointZ
        
        #速度限幅
        self.resultAngularSpeedYaw = max(min(self.resultAngularSpeedYaw, self.MAX_ANGULAR_SPEED), -self.MAX_ANGULAR_SPEED)
        self.resultLinearSpeedZ = max(min(self.resultLinearSpeedZ, self.MAX_Z_SPEED), -self.MAX_Z_SPEED)
        
    
    #计算识别模式速度
    def calculate_detect_speed(self, ID):
        #计算误差像素
        if (ID == 0):
            self.errorDetectX = -(self.targetDetectX - self.detectX)
        elif (ID == 1):
            self.errorDetectX = (self.targetDetectX - self.detectX)
        #self.errorDetectY = self.targetDetectY - self.detectY
        self.errorDetectZ = (self.targetDetectZ - self.detectZ)
        #计算识别后速度
        self.resultLinearSpeedX = self.errorDetectX * self.KP_LINEAR_SPEED_DETECT
        #self.resultLinearSpeedY = self.errorDetectY * self.KP_LINEAR_SPEED_DETECT
        self.resultLinearSpeedZ = self.errorDetectZ * self.KP_LINEAR_SPEED_DETECT
        #计算限速
        self.resultLinearSpeedX = max(min(self.resultLinearSpeedX, self.MAX_LINEAR_SPEED), -self.MAX_LINEAR_SPEED)
        #self.resultLinearSpeedY = max(min(self.resultLinearSpeedY, self.MAX_LINEAR_SPEED), -self.MAX_LINEAR_SPEED)
        self.resultLinearSpeedZ = max(min(self.resultLinearSpeedZ, self.MAX_LINEAR_SPEED), -self.MAX_LINEAR_SPEED)
    
    def Height_callback(self, alt):
        self.actualPositionZ = alt.range * 100
        #rospy.loginfo("Height:%f", self.actualPositionZ)
        

    def QRCode_Callback(self, Qrcode):
        self.CamID = Qrcode.CamID
        if (Qrcode.CamID == self.Detect_Cam):
            #识别到二维码
            self.findQrcode_State = 1
            self.detectX = Qrcode.x + Qrcode.Width // 2
            self.detectZ = Qrcode.y + Qrcode.Height // 2
            self.detectNum = int(Qrcode.Data)
            self.time_qrcode = self.Time
            #rospy.loginfo("%d, %d, %d", self.detectNum, self.detectY, self.detectX)
            if self.judge_detect():
                self.QRCode_Detect(self.Detect_Cam)
   
    def QRCode_Detect(self, Cam_ID):
        #rospy.loginfo("1111111111")
        if self.CamID == Cam_ID:     
            if (not self.detectNum in self.QRNum):
                self.QRNum[self.QRCodeCount] = self.detectNum
            #如果和上一个检测到的二维码不同
            # if self.detectNum != self.last_code:
                #执行一次操作
                # self.last_code = self.detectNum
                self.QRCodeCount += 1
                self.send_blutooth(1)
                self.findQrcode_State = 0#处理完
                # self.time_qrcode = 0
    
    #超时检测
    def Qrcode_TimeOut(self):
        self.last_code = -1
        if self.findQrcode_State == 1:
            self.findQrcode_State = 0
            self.QRCodeCount += 1
            self.send_blutooth(1)

            
    def send_blutooth(self, state):
        pass

        # if state == 0:
        #     string = "@t" + str(int(self.Time * 10) / 10) + "\r\n" 
        #     self.ser.write(string.encode())
        #     print(string)
        # else:
        #     string = "@" + str(self.QRCodeCount) + "T" + str(int(self.Time * 10) / 10) + "A" + str((self.detectNum)) + "D" + str(int((self.actualPositionX - 75) * 10) / 10) + "F" + str(int(self.Detect_Cam)) + "\r\n" 
        #     self.ser.write(string.encode())
        #     print(string)
            


    #坐标移动,更改目标坐标点
    #返回为真代表已经到达目的地
    def move(self, x, y, z, yaw=0, ignore_z = 0):
        x_act, y_act, yaw_act = self.actualPositionX, self.actualPositionY, self.actualPositionYaw
        z_act = self.actualPositionZ
        self.targetPointX = x
        self.targetPointY = y
        self.targetPointZ = z
        self.targetYaw = yaw
        self.errorPointX = self.targetPointX - x_act   
        self.errorPointY = self.targetPointY - y_act
        self.errorPointZ = self.targetPointZ - z_act
        self.errorYaw = self.targetYaw - yaw_act
        if ignore_z == 0:
            return (abs(self.errorPointX) <= self.MIN_ERROR_XY_POINT and
                    abs(self.errorPointY) <= self.MIN_ERROR_XY_POINT and
                    abs(self.errorYaw) <= self.MIN_ERROR_YAW and
                    abs(self.errorPointZ) <= self.MIN_ERROR_XY_POINT)
        else:
            return (abs(self.errorPointX) <= self.MIN_ERROR_XY_POINT + 6 and
                abs(self.errorPointY) <= self.MIN_ERROR_XY_POINT + 6 and
                abs(self.errorYaw) <= self.MIN_ERROR_YAW and
                abs(self.errorPointZ) <= 10)
    
            


    #判断是否到达目的地
    def judge_point(self):
        return (abs(self.errorPointX) <= self.MIN_ERROR_XY_POINT and
                abs(self.errorPointY) <= self.MIN_ERROR_XY_POINT and
                abs(self.errorYaw) <= self.MIN_ERROR_YAW and
                abs(self.errorPointZ) <= self.MIN_ERROR_XY_POINT)
        
    #判断是否到达识别中心
    def judge_detect(self):
        return (abs(self.errorDetectX) <= self.MIN_ERROR_XY_DETECT)
            
    def Delay(self, time):
        if self.flagDelay == 0:
            self.flagDelay = 1
            self.startTime_Delay = rospy.get_time()
            self.resultLinearSpeedX = 0
            self.resultLinearSpeedY = 0
            self.resultLinearSpeedZ = 0
            self.mode = -1
            return 0
        elif self.flagDelay == 1:
            self.presentTime_Delay = rospy.get_time()
            rospy.loginfo("WAITING... Time remaining: %.2f" % (time - (self.presentTime_Delay - self.startTime_Laser)))
            if (self.presentTime_Delay - self.startTime_Delay >= time):
                rospy.loginfo("Delay Over")
                self.flagDelay = 0
                self.mode = 0
                return 1
            else:
                return 0
            


    def Shutdown(self):
        rospy.loginfo("SHUT DOWN")
        self.vel_msg.linear.x = 0
        self.vel_msg.linear.y = 0
        self.vel_msg.linear.z = 0

        self.vel_msg.angular.z = 0
        self.pubSpeed.publish(self.vel_msg)

        self.Servo_control(0)

    def fly_up(self):
        for i in range(50):
            self.vel_msg.linear.z = 1
            self.pubSpeed.publish(self.vel_msg)
            rospy.loginfo("FLY%d", i)
        
    def land(self):
        for i in range(50):
            self.vel_msg.linear.z = -1
            self.pubSpeed.publish(self.vel_msg)
            rospy.loginfo("FLY%d", i)




    #控制主程序
    def run(self):
        self.Detect_Cam = 0
        count = 0
        self.Time_0 = rospy.get_time()
        while not rospy.is_shutdown():
            count += 1
            if self.Time_0 != 0:
                self.Time = rospy.get_time() - self.Time_0
            else:
                self.Time = 0
            if (count >= 20):
                self.send_blutooth(0)
                rospy.loginfo("flag:%d", self.flagMovePoint)
                count = 0
            
    
            
            try:
                #transform = self.tf_buffer.lookup_transform('map', 'laser_frame', rospy.Time(0))
                transform = self.tf_buffer.lookup_transform('odom', 'laser', rospy.Time(0))
                # 提取位姿数据
                translation = transform.transform.translation
                rotation = transform.transform.rotation

                # 四元数转换为欧拉角
                _, _, yaw = tf.transformations.euler_from_quaternion(
                                (rotation.x, rotation.y, rotation.z, rotation.w))
                self.actualPositionYaw = yaw * 180 / math.pi

                # 获取当前坐标（单位：cm）
                self.actualPositionX = translation.x * 100
                self.actualPositionY = translation.y * 100

                #具体控制写在这#
#############################################___CONTROL_CODE_BEGIN___###############################################################
                if self.flagMovePoint == 0 and self.move(0, 0, 120):
                    self.flagMovePoint = 1
                elif self.flagMovePoint == 1 and self.Delay(3):
                    self.flagMovePoint = 200
                elif self.flagMovePoint == 200 and self.move(151, 16, 120):
                    self.flagMovePoint = 2
                elif self.flagMovePoint == 2 and self.move(151, 20, 50):
                    self.Servo_control(1)
                    self.flagMovePoint =3
                elif self.flagMovePoint == 3 and self.Delay(1.5):
                    self.flagMovePoint =300
                elif self.flagMovePoint == 300 and self.move(151, 16, 120):
                    self.flagMovePoint =4
                elif self.flagMovePoint == 4 and self.move(139, 188, 120):
                    self.flagMovePoint =5
                elif self.flagMovePoint == 5 and self.move(139, 188, 50):
                    self.Servo_control(2)
                    self.flagMovePoint =6
                elif self.flagMovePoint == 6 and self.Delay(1.5):
                    self.flagMovePoint = 700
                elif self.flagMovePoint == 700 and self.move(139, 188, 120):
                    self.flagMovePoint = 7
                elif self.flagMovePoint == 7 and self.move(0, 0, 120):
                    self.flagMovePoint =8
                elif self.flagMovePoint == 8 and self.move(0, 0, 3, ignore_z=1):
                    self.flagMovePoint =9
                    self.land()
                    self.land()
                    self.land()
                    self.land()
                    self.land()

                

                





#############################################___CONTROL_CODE_END___################################################################

                #计算速度
                if self.mode == 0:
                    self.calculate_point_speed()
                elif self.mode == 1:
                    self.calculate_detect_speed(self.Detect_Cam)

                    

                #发布速度,Twist中速度单位为m/s
                self.vel_msg.linear.x = self.resultLinearSpeedX * 0.01
                self.vel_msg.linear.y = self.resultLinearSpeedY * 0.01
                self.vel_msg.linear.z = self.resultLinearSpeedZ * 0.01


                self.vel_msg.angular.z = self.resultAngularSpeedYaw

                # if self.flagland == 1:
                #     self.vel_msg.linear.z = -1
                # if self.flagfly == 1:
                #     self.vel_msg.linear.z = 1
                self.pubSpeed.publish(self.vel_msg)
                

                


            except tf2_ros.TransformException as e:
                # rospy.logwarn("Transform not available: %s", e)
                pass
            #打印调试
            # rospy.loginfo("MIN:%d, MAX:%d", self.min_data, self.max_data)
            #rospy.loginfo("Time:%.3f",self.Time)





            
            # rospy.loginfo("Position:x: %.3f, y: %.3f, yaw: %.3f, z:%.3f", self.actualPositionX, self.actualPositionY, self.actualPositionYaw, self.actualPositionZ)
            # rospy.loginfo("Speed:x: %.3f, y: %.3f, yaw: %.3f, z:%.3f", self.resultLinearSpeedX, self.resultLinearSpeedY, self.resultAngularSpeedYaw, self.resultLinearSpeedZ)
            # rospy.loginfo("flag:%d", self.flagMovePoint)
            # rospy.loginfo("detct:%d", self.detect_flag)
            # #rospy.loginfo("DetectNum:%d", self.detectNum)
            # rospy.loginfo("MOD:%d", self.mode)t
            self.rate.sleep()

#主函数
if __name__ == '__main__':
    try:
        controller = RobotController()
        controller.run()
    except rospy.ROSInterruptException:
        pass


